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VSCode Devcontainer for ROS application

Project

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.
├── .devcontainer
│   ├── devcontainer.json
│   ├── Dockerfile.humble_dev
│   ├── .tmux.conf
|   └── Dockerfile
├── docker-compose.yml
├── readme.md
└── src

Base docker

  • ubuntu 22.04
  • ros humble base
  • gazebo11
dockerfile.humble_dev 
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# https://github.com/athackst/dockerfiles/blob/main/ros2/humble.Dockerfile
# docker build -f .devcontainer/Dockerfile.humble_dev --target gazebo_dev -t humble:dev .
# docker build -f .devcontainer/Dockerfile.humble_cuda_dev --target gazebo_dev -t humble/cuda/devel:dev .

###########################################
# Base image
###########################################
ARG BASE_IMAGE="ubuntu:22.04"
ARG IMAGE_VERSION="1.0"

FROM ${BASE_IMAGE} AS base

ENV DEBIAN_FRONTEND=noninteractive

RUN echo ${IMAGE_VERSION} > /etc/ros_image_version

# Install language
RUN apt-get update && apt-get install -y \
  locales \
  && locale-gen en_US.UTF-8 \
  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
  && rm -rf /var/lib/apt/lists/*
ENV LANG en_US.UTF-8

# Install timezone
RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
  && export DEBIAN_FRONTEND=noninteractive \
  && apt-get update \
  && apt-get install -y tzdata \
  && dpkg-reconfigure --frontend noninteractive tzdata \
  && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get -y upgrade \
    && rm -rf /var/lib/apt/lists/*

# Install common programs
RUN apt-get update && apt-get install -y --no-install-recommends \
    curl \
    gnupg2 \
    lsb-release \
    sudo \
    software-properties-common \
    wget \
    && rm -rf /var/lib/apt/lists/*

# Install ROS2
RUN sudo add-apt-repository universe \
  && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null \
  && apt-get update && apt-get install -y --no-install-recommends \
    ros-humble-ros-base \
    python3-argcomplete \
  && rm -rf /var/lib/apt/lists/*

ENV ROS_DISTRO=humble
ENV AMENT_PREFIX_PATH=/opt/ros/humble
ENV COLCON_PREFIX_PATH=/opt/ros/humble
ENV LD_LIBRARY_PATH=/opt/ros/humble/lib
ENV PATH=/opt/ros/humble/bin:$PATH
ENV PYTHONPATH=/opt/ros/humble/local/lib/python3.10/dist-packages:/opt/ros/humble/lib/python3.10/site-packages
ENV ROS_PYTHON_VERSION=3
ENV ROS_VERSION=2
ENV DEBIAN_FRONTEND=


###########################################
#  Develop image
###########################################
FROM base AS dev

ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \
  bash-completion \
  build-essential \
  cmake \
  gdb \
  git \
  openssh-client \
  python3-argcomplete \
  python3-pip \
  python-is-python3 \
  ros-dev-tools \
  ros-humble-ament-* \
  vim \
  ## ros
  python3-colcon-clean \
  ros-humble-rmw-cyclonedds-cpp \
  ## dev
  tmux \
  tmuxp \
  ## build
  python3-bloom \
  python3-rosdep \
  fakeroot \
  debhelper \
  dh-python \
  && rm -rf /var/lib/apt/lists/*

COPY .devcontainer/.tmux.conf /etc/tmux.conf
RUN rosdep init || echo "rosdep already initialized"

ARG USERNAME=user
ARG USER_UID=1000
ARG USER_GID=$USER_UID

# Create a non-root user
RUN groupadd --gid $USER_GID $USERNAME \
  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
  # Add sudo support for the non-root user
  && apt-get update \
  && apt-get install -y sudo \
  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
  && chmod 0440 /etc/sudoers.d/$USERNAME \
  && rm -rf /var/lib/apt/lists/*

# Set up autocompletion for user
RUN apt-get update && apt-get install -y git-core bash-completion \
  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
  && rm -rf /var/lib/apt/lists/* 

ENV DEBIAN_FRONTEND=
ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1


###########################################
#  Dev+Gazebo image
###########################################
FROM dev AS gazebo_dev

ENV DEBIAN_FRONTEND=noninteractive
# Install gazebo classic
# install gazebo classic dev library
# install ros humble gazebo classic plugins
RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
  && apt-get update && apt-get install -q -y --no-install-recommends \
    gazebo \
    libgazebo-dev \
    ros-humble-gazebo-ros-pkgs \
  && rm -rf /var/lib/apt/lists/*
ENV DEBIAN_FRONTEND=

RUN echo "base ROS humble image with gazebo classic : ${IMAGE_VERSION}">/etc/ros_image_version
build command 
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docker build -t humble:dev -f .devcontainer/Dockerfile.humble_dev .

Dockerfile

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FROM humble:dev

ARG VERSION=0.0.1


RUN echo "image dev version: ${VERSION}">/etc/docker_image_dev_version

Docker Compose

docker-compose.yml
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services:
  dev:
    build:
      context: .
      dockerfile: .devcontainer/Dockerfile
    user: "user:user"
    volumes:
      - .:/workspace:cached
      - /tmp/.X11-unix:/tmp/.X11-unix:ro
    hostname: dev
    network_mode: host
    stdin_open: true
    tty: true
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
    devices:
      - /dev/dri:/dev/dri
    privileged: true

devcontainer

devcontainer.json
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{
  "name": "gst_stream",
  "dockerComposeFile": "../docker-compose.yml",
  "service": "dev",
  "shutdownAction": "stopCompose",
  "workspaceFolder": "/workspace",
  "remoteUser": "user",
  "customizations": {
    "vscode": {
      "extensions": [],
      "settings": {}
    }
  }
}
dockerComposeFile
service
shutdownAction
workdpaceFolder

Other files

.tmux.conf 
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# unbind
unbind C-b
unbind '"'
unbind %

# base1 numbering
set -g base-index 1
setw -g pane-base-index 1

#bind ctrl-a as a prefix
set-option -g prefix C-a
bind-key C-a send-prefix
# kill session
bind C-c kill-session

bind C-a run "tmux save-buffer - | xclip -i -sel clipboard"

# mouse
set -g mouse on


 # do like terminator
bind -n C-E split-window -h
bind -n C-S-Left resize-pane -L 3
bind -n C-S-Right resize-pane -R 3
bind -n C-S-Up resize-pane -U 3
bind -n C-S-Down resize-pane -D 3
bind -n C-O split-window -v

# switch panes using Alt-arrow without prefix (not working)
bind -n M-Left select-pane -L
bind -n M-Right select-pane -R
bind -n M-Up select-pane -U
bind -n M-Down select-pane -D

# Shift arrow to switch windows

bind n next-window
bind p previous-window

bind c new-window -c "#{pane_current_path}"

bind r source-file ~/.tmux.conf

# settings